相关论文: Upgrading Pepper Robot s Social Interaction with A…

We propose a Visual-SLAM based localization and navigation system for service robots. Our system is built on top of the ORB-SLAM monocular system but extended by the inclusion of wheel odometry in the estimation procedures. As a case study,…

3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…

Evaluation of social robot navigation inherently requires human input due to its qualitative nature. Motivated by the need to scale human evaluation, we propose a general method for deploying interactive, rich-client robotic simulations on…

After-action reviews (AARs) are professional discussions that help operators and teams enhance their task performance by analyzing completed missions with peers and professionals. Previous studies that compared different formats of AARs…

Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…

Neural fields can be trained from scratch to represent the shape and appearance of 3D scenes efficiently. It has also been shown that they can densely map correlated properties such as semantics, via sparse interactions from a human…

We present a pixel-based deep active inference algorithm (PixelAI) inspired by human body perception and action. Our algorithm combines the free-energy principle from neuroscience, rooted in variational inference, with deep convolutional…

This paper presents a novel real-time, delay-aware cooperative perception system designed for intelligent mobility platforms operating in dynamic indoor environments. The system contains a network of multi-modal sensor nodes and a central…

Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine…

This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…

This study explores the use of microphones placed on a robot's body to detect tactile interactions via sounds produced when the hard shell of the robot is touched. This approach is proposed as an alternative to traditional methods using…

Human-machine interaction (HMI) and human-robot interaction (HRI) can assist structural monitoring and structural dynamics testing in the laboratory and field. In vibratory experimentation, one mode of generating vibration is to use…

Affect understanding capability is essential for social robots to autonomously interact with a group of users in an intuitive and reciprocal way. However, the challenge of multi-person affect understanding comes from not only the accurate…

Social robots must adjust to human proxemic norms to ensure user comfort and engagement. While prior research demonstrates that eye-tracking features reliably estimate comfort in human-human interactions, their applicability to interactions…

We present a novel framework for collaboration amongst a team of robots performing Pose Graph Optimization (PGO) that addresses two important challenges for multi-robot SLAM: i) that of enabling information exchange "on-demand" via Active…

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

We investigate how high-resolution tactile sensors can be utilized in combination with vision and depth sensing, to improve grasp stability prediction. Recent advances in simulating high-resolution tactile sensing, in particular the TACTO…

For a period of three weeks in June 2021, we embedded a social robot (Softbank Pepper) in a Special Educational Needs (SEN) school, with a focus on supporting the well-being of autistic children. Our methodology to design and embed the…

The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work…

This study uses multisensory data (i.e., color and depth) to recognize human actions in the context of multimodal human-robot interaction. Here we employed the iCub robot to observe the predefined actions of the human partners by using four…